摘要本文将设计一台四自由度的机械手，它的主要的功用就是进行皮带轮间的物料传送。本文从介绍机械手出发，根据设计思路，完成了机械手的传动设计、驱动方式设计、控制系统设计。而在这几个大方面中，机械手的传动设计分为四个自由度的运动设计：旋转、伸缩、升降和夹放。通过对作用在机械手上的载荷力的计算，以及气动系统回路以及控制系统的设计，从而实现机械手自动工作：自动进行推断、物料传送过程、复位、单步和单周期等一系列动作。关键词 机械手，传动设计，驱动设计，控制系统设计Abstract This paper will design a four degree of freedom manipulator, the main function is to transfer material between the pulley. Starting from the instruction of the manipulator, according to the design ideas, I finished the transmission design, drive mode design and control system design. And in this several aspects, of the manipulator transmission design can be divided into four degrees of freedom movement design: rotation, adjustable, lift and clip put. Through to the effect of load in mechanical hand force calculation, and pneumatic system loop and the design of control system, so as to realize the automatic robots work: automatic judgment, material transfer process and reset, a single step and single cycle and a series of actions.Keywords manipulator, transmission design, drive mode design, control system design目录1 绪论.........................................................11.1 机械手的历史............................................11.2 机械手的组成...........................................21.3 机械手的分类...........................................22 物料传送机械手设计总体方案...................................42.1 物料传送机械手设计要求.................................42.2 基本设计思路...........................................42.2.1 系统分析.........................................42.2.2 总体设计框图.....................................52.3 物料传送机械手结构设计......
